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Description
| - The ability of a robot to navigate itself in the environment is a crucial step towards its autonomy. In this article a method for simultaneous localization an mapping (SLAM) of mobile robots in six degrees of freedom (6DOF) is presented. As an input, the method is using 3D range data acquired from a continuously inclined laser rangefinder. The localization and mapping task is equal to the registration of multiple 3D images into a common frame of reference. For this purpose, an extended version of the Iterative Closest Point (ICP) algorithm is being used. In order to accelerate the time-demanding 6DOF image registration, the method is modified in the following way: first, a 3DOF registration is performed using leveled maps extracted from the 3D data, followed by a robust 6DOF registration. The proposed method compared to a single phase 6DOF registration gives promising results in structured environments.
- The ability of a robot to navigate itself in the environment is a crucial step towards its autonomy. In this article a method for simultaneous localization an mapping (SLAM) of mobile robots in six degrees of freedom (6DOF) is presented. As an input, the method is using 3D range data acquired from a continuously inclined laser rangefinder. The localization and mapping task is equal to the registration of multiple 3D images into a common frame of reference. For this purpose, an extended version of the Iterative Closest Point (ICP) algorithm is being used. In order to accelerate the time-demanding 6DOF image registration, the method is modified in the following way: first, a 3DOF registration is performed using leveled maps extracted from the 3D data, followed by a robust 6DOF registration. The proposed method compared to a single phase 6DOF registration gives promising results in structured environments. (en)
- The ability of a robot to navigate itself in the environment is a crucial step towards its autonomy. In this article a method for simultaneous localization an mapping (SLAM) of mobile robots in six degrees of freedom (6DOF) is presented. As an input, the method is using 3D range data acquired from a continuously inclined laser rangefinder. The localization and mapping task is equal to the registration of multiple 3D images into a common frame of reference. For this purpose, an extended version of the Iterative Closest Point (ICP) algorithm is being used. In order to accelerate the time-demanding 6DOF image registration, the method is modified in the following way: first, a 3DOF registration is performed using leveled maps extracted from the 3D data, followed by a robust 6DOF registration. The proposed method compared to a single phase 6DOF registration gives promising results in structured environments. (cs)
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Title
| - 3D Mapping and Localization Using Leveled Map Accelerated ICP
- 3D Mapping and Localization Using Leveled Map Accelerated ICP (en)
- 3D Mapping and Localization Using Leveled Map Accelerated ICP (cs)
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skos:prefLabel
| - 3D Mapping and Localization Using Leveled Map Accelerated ICP
- 3D Mapping and Localization Using Leveled Map Accelerated ICP (en)
- 3D Mapping and Localization Using Leveled Map Accelerated ICP (cs)
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skos:notation
| - RIV/00216305:26220/08:PU72244!RIV10-MSM-26220___
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http://linked.open...avai/riv/aktivita
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http://linked.open...avai/riv/aktivity
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http://linked.open...vai/riv/dodaniDat
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http://linked.open...aciTvurceVysledku
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http://linked.open.../riv/druhVysledku
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http://linked.open...iv/duvernostUdaju
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http://linked.open...titaPredkladatele
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http://linked.open...dnocenehoVysledku
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http://linked.open...ai/riv/idVysledku
| - RIV/00216305:26220/08:PU72244
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http://linked.open...riv/jazykVysledku
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http://linked.open.../riv/klicovaSlova
| - ICP, SLAM, Leveled Maps (en)
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http://linked.open.../riv/klicoveSlovo
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http://linked.open...ontrolniKodProRIV
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http://linked.open...v/mistoKonaniAkce
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http://linked.open...i/riv/mistoVydani
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http://linked.open...i/riv/nazevZdroje
| - European Robotics Symposium 2008
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http://linked.open...in/vavai/riv/obor
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http://linked.open...ichTvurcuVysledku
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http://linked.open...cetTvurcuVysledku
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http://linked.open...UplatneniVysledku
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http://linked.open...iv/tvurceVysledku
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http://linked.open...vavai/riv/typAkce
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http://linked.open.../riv/zahajeniAkce
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http://linked.open...n/vavai/riv/zamer
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number of pages
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http://purl.org/ne...btex#hasPublisher
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https://schema.org/isbn
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http://localhost/t...ganizacniJednotka
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is http://linked.open...avai/riv/vysledek
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